Public Types |
Public Member Functions |
Static Public Member Functions |
Static Public Attributes |
List of all members
moveit_studio::behaviors::DetachOrRemoveTool Class Referencefinal
This Behavior sends a request to detach a tool from a robot or remove it from the planning scene. More...
#include <detach_or_remove_tool.hpp>
Inheritance diagram for moveit_studio::behaviors::DetachOrRemoveTool:
Collaboration diagram for moveit_studio::behaviors::DetachOrRemoveTool:
Public Types | |
| using | DetachOrRemoveToolSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveTool |
Public Member Functions | |
| DetachOrRemoveTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| DetachOrRemoveTool (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< DetachOrRemoveToolSrv >> client_interface) | |
 Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveTool > | |
| ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| Constructs ServiceClientBehaviorBase using the RclcppClientInterface. More... | |
| ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_agent_msgs::srv::DetachOrRemoveTool >> client_interface) | |
| Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase. More... | |
| virtual | ~ServiceClientBehaviorBase ()=default |
| Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase | |
| AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| virtual | ~AsyncBehaviorBase ()=default |
| BT::NodeStatus | onStart () override |
| Required implementation of BT::StatefulActionNode::onStart(). More... | |
| BT::NodeStatus | onRunning () override |
| Required implementation of BT::StatefulActionNode::onRunning(). More... | |
| void | onHalted () override |
| Required implementation of BT::StatefulActionNode::onHalted(). More... | |
| void | resetStatus () |
| Resets the internal status of this node. More... | |
| Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode > | |
| SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node. More... | |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Static Public Attributes | |
| static constexpr auto | kToolNamePort = "tool_name" |
| static constexpr auto | kDetachToolBehaviorName = "DetachTool" |
| static constexpr auto | kRemoveToolFromSceneBehaviorName = "RemoveToolFromScene" |
| static constexpr auto | kDetachToolServiceName = "detach_tool" |
| static constexpr auto | kRemoveToolFromSceneServiceName = "remove_tool_from_scene" |
| Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveTool > | |
| static constexpr std::chrono::seconds | kTimeoutWaitForServiceServer |
Additional Inherited Members | |
| Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveTool > | |
| virtual tl::expected< bool, std::string > | processResponse (const typename ServiceT::Response &) |
| Optional user-provided function to process the service response after the service has finished. More... | |
| Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase | |
| void | notifyCanHalt () |
| Called when runAsync() finishes to notify onHalted() that the async process has finished. More... | |
| Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode > | |
| std::shared_ptr< BehaviorContext > | shared_resources_ |
Detailed Description
This Behavior sends a request to detach a tool from a robot or remove it from the planning scene.
The tool with the given tool_name will be detached from the robot or removed from the planning scene depending on which service is specified. If detached, the tool will no longer move with the robot and will not be considered in motion planning calculations. If removed, the tool will no longer be able to be attached to the robot until it is added to the planning scene again.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| tool_name | input | std::string |
Member Typedef Documentation
◆ DetachOrRemoveToolSrv
| using moveit_studio::behaviors::DetachOrRemoveTool::DetachOrRemoveToolSrv = moveit_studio_agent_msgs::srv::DetachOrRemoveTool |
Constructor & Destructor Documentation
◆ DetachOrRemoveTool() [1/2]
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explicit |
◆ DetachOrRemoveTool() [2/2]
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explicit |
Member Function Documentation
◆ metadata()
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static |
◆ providedPorts()
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static |
Member Data Documentation
◆ kDetachToolBehaviorName
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staticconstexpr |
◆ kDetachToolServiceName
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staticconstexpr |
◆ kRemoveToolFromSceneBehaviorName
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staticconstexpr |
◆ kRemoveToolFromSceneServiceName
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staticconstexpr |
◆ kToolNamePort
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staticconstexpr |
The documentation for this class was generated from the following files:
